In biomechanical joint-motion analyses, the continuous motion to be studied is often approximated by a sequence of finite displacements, and the Finite Helical Axis(FHA) or "screw axis" for each displacement is estimated from position measurements on a number of anatomical or artificial landmarks. When FHA parameters are directly determined from raw (noisy) displacement data, both the position and the direction of the FHA are ill-determined, in particular when the sequential displacement steps are small. This implies, that under certain conditions, the continuous pathways of joint motions cannot be adequately described. The purpose of the present experimental study is to investigate the applicability of smoothing (or filtering)techniques, in those cases where FHA parameters are ill-determined. Two different quintic-spline smoothing methods were used to analyze the motion data obtained with Roentgenstereophotogrammetry in two experiments. One concerning carpal motions in a wrist-joint specimen, and one relative to a kinematic laboratory model, in which the axis positions are a priori known. The smoothed and nonsmoothed FHA parameter errors were compared. The influences of the number of samples and the size of the sampling interval (displacement step) were investigated, as were the effects of equidistant and nonequidistant sampling conditions and noise invariance
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A method to study ligament-length patterns in situ with roentgenstereophotogrammetry, using strings of glued tantalum markers, was developed. The method was tested against a bone-to-bone marking method in five carpal ligaments in three specimens, whereby the hand was moved through dorsopalmar flexion and radioulnar deviation. The "glued-string" marking method was found to be superior to the bone-to-bone marking method. The length patterns obtained were found to be reproducible in the specimens and different from earlier expectations presented in the literature. The radiocapitate ligament seems to limit the displacements of the capitate in both radial and ulnar deviation, and dorsal flexion. The radiolunate ligament has the same effect for the lunate. Both the dorsal radiotriquetrum and the palmar triquetrocapitate ligaments seem to play a stabilizing role in the neutral position of the hand, whereas the radiotriquetrum ligament also has a function in palmar flexion and the triquetrocapitate ligament functions in dorsal flexion, ultimately resisting these excursions. These findings require confirmation in more extensive experiments, whereby the relationship between ligament length patterns and carpal motion axes is investigated.
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The performance of human-robot collaboration tasks can be improved by incorporating predictions of the human collaborator's movement intentions. These predictions allow a collaborative robot to both provide appropriate assistance and plan its own motion so it does not interfere with the human. In the specific case of human reach intent prediction, prior work has divided the task into two pieces: recognition of human activities and prediction of reach intent. In this work, we propose a joint model for simultaneous recognition of human activities and prediction of reach intent based on skeletal pose. Since future reach intent is tightly linked to the action a person is performing at present, we hypothesize that this joint model will produce better performance on the recognition and prediction tasks than past approaches. In addition, our approach incorporates a simple human kinematic model which allows us to generate features that compactly capture the reachability of objects in the environment and the motion cost to reach those objects, which we anticipate will improve performance. Experiments using the CAD-120 benchmark dataset show that both the joint modeling approach and the human kinematic features give improved F1 scores versus the previous state of the art.
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Introduction: Falling causes long term disability and can even lead to death. Most falls occur during gait. Therefore improving gait stability might be beneficial for people at risk of falling. Recently arm swing has been shown to influence gait stability. However at present it remains unknown which mode of arm swing creates the most stable gait. Aim: To examine how different modes of arm swing affect gait stability. Method: Ten healthy young male subjects volunteered for this study. All subjects walked with four different arm swing instructions at seven different gait speeds. The Xsens motion capture suit was used to capture gait kinematics. Basic gait parameters, variability and stability measures were calculated. Results: We found an increased stability in the medio-lateral direction with excessive arm swing in comparison to normal arm swing at all gait speeds. Moreover, excessive arm swing increased stability in the anterior–posterior and vertical direction at low gait speeds. Ipsilateral and inphase arm swing did not differ compared to a normal arm swing. Discussion: Excessive arm swing is a promising gait manipulation to improve local dynamic stability. For excessive arm swing in the ML direction there appears to be converging evidence. The effect of excessive arm swing on more clinically relevant groups like the more fall prone elderly or stroke survivors is worth further investigating. Conclusion: Excessive arm swing significantly increases local dynamic stability of human gait.
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Background The gait modification strategies Trunk Lean and Medial Thrust have been shown to reduce the external knee adduction moment (EKAM) in patients with knee osteoarthritis which could contribute to reduced progression of the disease. Which strategy is most optimal differs between individuals, but the underlying mechanism that causes this remains unknown. Research question Which gait parameters determine the optimal gait modification strategy for individual patients with knee osteoarthritis? Methods Forty-seven participants with symptomatic medial knee osteoarthritis underwent 3-dimensional motion analysis during comfortable gait and with two gait modification strategies: Medial Thrust and Trunk Lean. Kinematic and kinetic variables were calculated. Participants were then categorized into one of the two subgroups, based on the modification strategy that reduced the EKAM the most for them. Multiple logistic regression analysis with backward elimination was used to investigate the predictive nature of dynamic parameters obtained during comfortable walking on the optimal modification gait strategy. Results For 68.1 % of the participants, Trunk Lean was the optimal strategy in reducing the EKAM. Baseline characteristics, kinematics and kinetics did not differ significantly between subgroups during comfortable walking. Changes to frontal trunk and tibia angles correlated significantly with EKAM reduction during the Trunk Lean and Medial Thrust strategies, respectively. Regression analysis showed that MT is likely optimal when the frontal tibia angle range of motion and peak knee flexion angle in early stance during comfortable walking are high (R2Nagelkerke = 0.12). Significance Our regression model based solely on kinematic parameters from comfortable walking contained characteristics of the frontal tibia angle and knee flexion angle. As the model explains only 12.3 % of variance, clinical application does not seem feasible. Direct assessment of kinetics seems to be the most optimal strategy for selecting the most optimal gait modification strategy for individual patients with knee osteoarthritis.
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Background The plantar intrinsic foot muscles (PIFMs) have a role in dynamic functions, such as balance and propulsion, which are vital to walking. These muscles atrophy in older adults and therefore this population, which is at high risk to falling, may benefit from strengthening these muscles in order to improve or retain their gait performance. Therefore, the aim was to provide insight in the evidence for the effect of interventions anticipated to improve PIFM strength on dynamic balance control and foot function during gait in adults. Methods A systematic literature search was performed in five electronic databases. The eligibility of peer-reviewed papers, published between January 1, 2010 and July 8, 2020, reporting controlled trials and pre-post interventional studies was assessed by two reviewers independently. Results from moderate- and high-quality studies were extracted for data synthesis by summarizing the standardized mean differences (SMD). The GRADE approach was used to assess the certainty of evidence. Results Screening of 9199 records resulted in the inclusion of 11 articles of which five were included for data synthesis. Included studies were mainly performed in younger populations. Low-certainty evidence revealed the beneficial effect of PIFM strengthening exercises on vertical ground reaction force (SMD: − 0.31-0.37). Very low-certainty evidence showed that PIFM strength training improved the performance on dynamic balance testing (SMD: 0.41–1.43). There was no evidence for the effect of PIFM strengthening exercises on medial longitudinal foot arch kinematics. Conclusions This review revealed at best low-certainty evidence that PIFM strengthening exercises improve foot function during gait and very low-certainty evidence for its favorable effect on dynamic balance control. There is a need for high-quality studies that aim to investigate the effect of functional PIFM strengthening exercises in large samples of older adults. The outcome measures should be related to both fall risk and the role of the PIFMs such as propulsive forces and balance during locomotion in addition to PIFM strength measures.
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In sports, inertial measurement units are often used to measure the orientation of human body segments. A Madgwick (MW) filter can be used to obtain accurate inertial measurement unit (IMU) orientation estimates. This filter combines two different orientation estimates by applying a correction of the (1) gyroscope-based estimate in the direction of the (2) earth frame-based estimate. However, in sports situations that are characterized by relatively large linear accelerations and/or close magnetic sources, such as wheelchair sports, obtaining accurate IMU orientation estimates is challenging. In these situations, applying the MW filter in the regular way, i.e., with the same magnitude of correction at all time frames, may lead to estimation errors. Therefore, in this study, the MW filter was extended with machine learning to distinguish instances in which a small correction magnitude is beneficial from instances in which a large correction magnitude is beneficial, to eventually arrive at accurate body segment orientations in IMU-challenging sports situations. A machine learning algorithm was trained to make this distinction based on raw IMU data. Experiments on wheelchair sports were performed to assess the validity of the extended MW filter, and to compare the extended MW filter with the original MW filter based on comparisons with a motion capture-based reference system. Results indicate that the extended MW filter performs better than the original MW filter in assessing instantaneous trunk inclination (7.6 vs. 11.7◦ root-mean-squared error, RMSE), especially during the dynamic, IMU-challenging situations with moving athlete and wheelchair. Improvements of up to 45% RMSE were obtained for the extended MW filter compared with the original MW filter. To conclude, the machine learning-based extended MW filter has an acceptable accuracy and performs better than the original MW filter for the assessment of body segment orientation in IMU-challenging sports situations.
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CC-BY Dit artikel is overgenomen van https://www.frontiersin.org/journals/neurorobotics There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments. This paper presents the bio-inspired design of a soft, modular exoskeleton for lower limb assistance based on pneumatic quasi-passive actuation. The design of a modular reconfigurable prototype and its performance are presented. This actuation centers on an active mechanical element to modulate the assistance generated by a traditional passive component, in this case an elastic belt. This study assesses the feasibility of this type of assistive device by evaluating the energetic outcomes on a healthy subject during a walking task. Human-exoskeleton interaction in relation to task-based biological power assistance and kinematics variations of the gait are evaluated. The resultant assistance, in terms of overall power ratio (Λ) between the exoskeleton and the assisted joint, was 26.6% for hip actuation, 9.3% for the knee and 12.6% for the ankle. The released maximum power supplied on each articulation, was 113.6% for the hip, 93.2% for the knee, and 150.8% for the ankle.
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Background: Currently, the Ponseti method is the gold standard for treatment of clubfeet. For long-term func- tional evaluation of this method, gait analysis can be performed. Previous studies have assessed gait differences between Ponseti treated clubfeet and healthy controls. Research question/purpose: The aims of this systematic review were to compare the gait kinetics of Ponseti treated clubfeet with healthy controls and to compare the gait kinetics between clubfoot patients treated with the Ponseti method or surgically. Methods: A systematic search was performed in Embase, Medline Ovid, Web of Science, Scopus, Cochrane, Cinahl ebsco, and Google scholar, for studies reporting on gait kinetics in children with clubfeet treated with the Ponseti method. Studies were excluded if they only used EMG or pedobarography. Data were extracted and a risk of bias was assessed. Meta-analyses and qualitative analyses were performed. Results: Nine studies were included, of which five were included in the meta-analyses. The meta-analyses showed that ankle plantarflexor moment (95% CI -0.25 to -0.19) and ankle power (95% CI -0.89 to -0.60, were significantly lower in the Ponseti treated clubfeet compared to the healthy controls. No significant difference was found in ankle dorsiflexor and plantarflexor moment, and ankle power between clubfeet treated with surgery compared to the Ponseti method. Significance: Differences in gait kinetics are present when comparing Ponseti treated clubfeet with healthy controls. However, there is no significant difference between surgically and Ponseti treated clubfeet. These results give more insight in the possibilities of improving the gait pattern of patients treated for clubfeet.
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An important performance determinant in wheelchair sports is the power exchanged between the athletewheelchair combination and the environment, in short, mechanical power. Inertial measurement units (IMUs) might be used to estimate the exchanged mechanical power during wheelchair sports practice. However, to validly apply IMUs for mechanical power assessment in wheelchair sports, a well-founded and unambiguous theoretical framework is required that follows the dynamics of manual wheelchair propulsion. Therefore, this research has two goals. First, to present a theoretical framework that supports the use of IMUs to estimate power output via power balance equations. Second, to demonstrate the use of the IMU-based power estimates during wheelchair propulsion based on experimental data. Mechanical power during straight-line wheelchair propulsion on a treadmill was estimated using a wheel mounted IMU and was subsequently compared to optical motion capture data serving as a reference. IMU-based power was calculated from rolling resistance (estimated from drag tests) and change in kinetic energy (estimated using wheelchair velocity and wheelchair acceleration). The results reveal no significant difference between reference power values and the proposed IMU-based power (1.8% mean difference, N.S.). As the estimated rolling resistance shows a 0.9–1.7% underestimation, over time, IMU-based power will be slightly underestimated as well. To conclude, the theoretical framework and the resulting IMU model seems to provide acceptable estimates of mechanical power during straight-line wheelchair propulsion in wheelchair (sports) practice, and it is an important first step towards feasible power estimations in all wheelchair sports situations.
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